CN110262362B - AGV working temperature monitoring method, system and device - Google Patents
AGV working temperature monitoring method, system and device Download PDFInfo
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- CN110262362B CN110262362B CN201910640675.5A CN201910640675A CN110262362B CN 110262362 B CN110262362 B CN 110262362B CN 201910640675 A CN201910640675 A CN 201910640675A CN 110262362 B CN110262362 B CN 110262362B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01K—MEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
- G01K1/00—Details of thermometers not specially adapted for particular types of thermometer
- G01K1/02—Means for indicating or recording specially adapted for thermometers
- G01K1/026—Means for indicating or recording specially adapted for thermometers arrangements for monitoring a plurality of temperatures, e.g. by multiplexing
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0428—Safety, monitoring
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/26—Pc applications
- G05B2219/2603—Steering car
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/26—Pc applications
- G05B2219/2612—Data acquisition interface
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Abstract
The application discloses an AGV working temperature monitoring method which comprises the steps of receiving working temperature data of a plurality of target devices in an AGV; determining the state of any target device according to the working temperature data of the target device and a preset temperature value corresponding to the target device, wherein the state is a normal state, a state to be observed or a dangerous state; and when the target equipment in the dangerous state exists, reporting fault information corresponding to the target equipment to the upper computer, and cutting off the power supply of the AGV. In practical application, by adopting the scheme of the application, the working temperatures of a plurality of target devices inside the AGV are respectively monitored so as to determine the states of the target devices, and when danger occurs, the target devices can respond quickly. The application also discloses AGV operating temperature monitoring system and device, has above-mentioned beneficial effect.
Description
Technical Field
The application relates to the field of AGV, in particular to an AGV working temperature monitoring method, system and device.
Background
Operating temperature is an important attribute of the inside of an AGV (Automated Guided Vehicle). When the inside components and parts of AGV are overheated, the components and parts are easily damaged, AGV can not normally work, and more seriously, the condition possibly causes fire, causes huge loss. In order to solve the above problems, a current common method is to place an air temperature sensor inside an AGV, detect whether the total working temperature inside the AGV is normal, and control the AGV to stop working or even power off if the working temperature is determined to be in an abnormal state.
Therefore, how to provide a solution to the above technical problem is a problem that needs to be solved by those skilled in the art.
Disclosure of Invention
The application aims to provide an AGV working temperature monitoring method, system and device, which are used for respectively monitoring the working temperatures of a plurality of target devices inside an AGV so as to determine the states of the target devices, and can quickly respond when danger occurs.
In order to solve the technical problem, the application provides an AGV working temperature monitoring method, which comprises the following steps:
receiving working temperature data of a plurality of target devices in the AGV;
determining the state of the target equipment according to the working temperature data of any target equipment and a preset temperature value corresponding to the target equipment, wherein the state is a normal state, a state to be observed or a dangerous state;
and when the target equipment in the dangerous state exists, reporting fault information corresponding to the target equipment to an upper computer, and cutting off the power supply of the AGV.
Preferably, when the target equipment in the dangerous state does not exist, the working temperature data of all the target equipment is reported to the upper computer.
Preferably, the process of receiving the operating temperature data of the plurality of target devices inside the AGV specifically includes:
sending a temperature query instruction to a plurality of target devices in the AGV according to a first preset period so as to receive working temperature data sent by the target devices after receiving the temperature query instruction.
Preferably, after receiving the operating temperature data of the plurality of target devices inside the AGV, the operating temperature monitoring method for an AGV further includes:
judging whether an abnormal target device exists, wherein the abnormal target device is a target device which does not send the working temperature data according to a preset rule;
if not, executing the step of determining the state of the target equipment according to the working temperature data of any target equipment and the preset temperature value corresponding to the target equipment;
if yes, sending a temperature query instruction to the abnormal target equipment according to a second preset period, and judging whether the working temperature data sent by the abnormal target equipment is received within a preset time period;
if yes, executing the step of determining the state of the target equipment according to the working temperature data of any target equipment and the preset temperature value corresponding to the target equipment;
if not, reporting fault information corresponding to the abnormal target equipment to the upper computer.
Preferably, the process of reporting the fault information corresponding to the abnormal target device to the upper computer specifically includes:
judging whether the abnormal target equipment is a battery or not;
if so, reporting fault information corresponding to the battery to the upper computer, and cutting off the power supply of the AGV;
if not, reporting fault information corresponding to the abnormal target equipment to the upper computer.
Preferably, the preset temperature value comprises a normal temperature limit value and a dangerous temperature limit value, and the dangerous temperature limit value is greater than the normal temperature limit value;
the process of determining the state of the target device according to the working temperature data of any one of the target devices and the preset temperature value corresponding to the target device specifically comprises the following steps:
judging whether the working temperature data of the target equipment is greater than the normal temperature limit value corresponding to the target equipment or not;
if not, judging that the state of the target equipment is the normal state;
if so, judging whether the working temperature data of the target equipment is greater than the dangerous temperature limit value corresponding to the target equipment;
if not, judging that the state of the target equipment is the state to be observed;
and if so, judging that the state of the target equipment is the dangerous state.
Preferably, the AGV operating temperature monitoring method further includes:
and when target equipment to be observed exists, sending the temperature query instruction to the target equipment to be observed according to a third preset period, and then executing the step of judging whether abnormal target equipment exists, wherein the target equipment to be observed is the target equipment in the state to be observed.
Preferably, before reporting the operating temperature data of all the target devices to the upper computer, the operating temperature monitoring method for an AGV further includes:
judging whether the current time and the last reporting time exceed preset time or not;
if so, reporting the working temperature data of all the target devices to the upper computer.
In order to solve the technical problem, the present application further provides an AGV operating temperature monitoring system, including:
the receiving module is used for receiving working temperature data of a plurality of target devices in the AGV;
the state determining module is used for determining the state of the target equipment according to the working temperature data of any target equipment and the preset temperature value corresponding to the target equipment, wherein the state is a normal state, a state to be observed or a dangerous state;
and the processing module is used for reporting fault information corresponding to the target equipment to an upper computer and cutting off the power supply of the AGV when the target equipment with the dangerous state exists.
For solving above-mentioned technical problem, this application still provides an AGV operating temperature monitoring device, includes:
a memory for storing a computer program;
a processor for implementing the steps of the AGV operating temperature monitoring method according to any one of the preceding claims when executing said computer program.
The application provides an AGV working temperature monitoring method which comprises the steps of receiving working temperature data of a plurality of target devices in an AGV; determining the state of any target device according to the working temperature data of the target device and a preset temperature value corresponding to the target device, wherein the state is a normal state, a state to be observed or a dangerous state; and when the target equipment in the dangerous state exists, reporting fault information corresponding to the target equipment to the upper computer, and cutting off the power supply of the AGV. In practical application, by adopting the scheme of the application, the working temperatures of a plurality of target devices inside the AGV are respectively monitored so as to determine the states of the target devices, and when danger occurs, the target devices can respond quickly. The application also provides an AGV working temperature monitoring system and an AGV working temperature monitoring device, and the AGV working temperature monitoring system and the AGV working temperature monitoring device have the same beneficial effects as the AGV working temperature monitoring method.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the prior art and the embodiments are briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a flowchart illustrating the steps of a method for monitoring the operating temperature of an AGV according to the present disclosure;
FIG. 2 is a flowchart illustrating steps in another AGV operating temperature monitoring method provided herein;
FIG. 3 is a flowchart illustrating steps in another AGV operating temperature monitoring method provided herein;
FIG. 4 is a flowchart illustrating steps in another AGV operating temperature monitoring method provided herein;
FIG. 5 is a schematic diagram of an AGV operating temperature monitoring system according to the present disclosure.
Detailed Description
The core of the application is to provide an AGV working temperature monitoring method, system and device, which are used for respectively monitoring the working temperatures of a plurality of target devices inside the AGV so as to determine the states of the target devices, can quickly respond when danger occurs, and take corresponding measures according to the states of the target devices, and are flexible in feedback.
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Referring to fig. 1, fig. 1 is a flowchart illustrating steps of an AGV operating temperature monitoring method according to the present application, including:
step 1: receiving working temperature data of a plurality of target devices in the AGV;
specifically, the target device in the present application may refer to any device with a large calorific value inside the AGV, such as a motor, a battery, an IMU (Inertial Measurement Unit), a voltage conversion module, and a controller. It can be understood that any target device is provided with a temperature sensor for collecting the working temperature data of the target device, and the target device and the temperature sensor can be communicated with each other. The steps 1-3 can be specifically completed through a controller, the controller and the target devices can be communicated with each other, so that the controller can receive working temperature data sent by each target device, the controller can select a DSP (Digital Signal Processing), a single chip microcomputer, an industrial personal computer and the like, the scheme of the application is met, and the application does not specifically limit the type of the controller.
It can be understood that the operating temperature data of the target devices are transmitted in parallel and do not affect each other in the same time period.
Step 2: determining the state of any target device according to the working temperature data of the target device and a preset temperature value corresponding to the target device, wherein the state is a normal state, a state to be observed or a dangerous state;
it can be understood that, for different target devices, the determination conditions for the working temperature data to be normal or abnormal are different, and in the present application, a corresponding preset temperature value is set for each target device in advance, where the preset temperature value includes a normal temperature limit value and a dangerous temperature limit value, and by comparing the working temperature data of the target device with the normal temperature limit value and the dangerous temperature limit value, the state of the target device can be determined according to the comparison result.
The step 2 is described by taking target equipment as a motor, a battery and an IMU as an example:
setting the normal temperature limit value corresponding to the motor as 56 ℃ and the dangerous temperature limit value as 61 ℃, if the working temperature data of the motor received in the step 1 is less than or equal to 56 ℃, determining that the state of the motor is a normal state, if the working temperature data of the motor is greater than 56 ℃ and less than or equal to 61 ℃, determining that the state of the motor is a state to be observed, and if the temperature data of the motor is greater than 61 ℃, determining that the state of the motor is a dangerous state;
setting the normal temperature limit value corresponding to the battery as 50 ℃ and the dangerous temperature limit value as 55 ℃, if the working temperature data of the battery received in the step 1 is less than or equal to 50 ℃, determining that the state of the battery is a normal state, if the working temperature data of the battery is greater than 50 ℃ and less than or equal to 55 ℃, determining that the state of the battery is a state to be observed, and if the temperature data of the motor is greater than 55 ℃, determining that the state of the battery is a dangerous state;
and (3) setting the normal temperature limit value corresponding to the IMU as 64 ℃ and the dangerous temperature limit value as 69 ℃, if the working temperature data of the IMU received in the step (1) is less than or equal to 64 ℃, determining that the state of the IMU is a normal state, if the working temperature data of the IMU is greater than 64 ℃ and less than or equal to 69 ℃, determining that the state of the IMU is a state to be observed, and if the working temperature data of the IMU is greater than 69 ℃, determining that the state of the IMU is a dangerous state.
And step 3: and when the target equipment in the dangerous state exists, reporting fault information corresponding to the target equipment to the upper computer, and cutting off the power supply of the AGV.
Specifically, if there is a target device in a dangerous state, it is indicated that the temperature of the target device is too high, and there is a potential safety hazard, and at this time, fault information corresponding to the target device is reported to the upper computer, and the power supply of the AGV is cut off. Compared with the scheme that the state of the AGV is judged according to the whole working temperature inside the AGV in the prior art, the working temperature of each target device inside the AGV is monitored respectively, when the working temperature data of any target device reaches the corresponding dangerous temperature limit value, fault information is reported to the upper computer at once, then the power supply of the AGV is cut off, the response speed is higher, and the safety of the AGV is guaranteed.
Further, the fault information corresponding to the target device may include information for indicating that the target device is in a dangerous state, and may further include received operating temperature data of each target device, and it may be understood that when the upper computer receives the fault information, the AGV body is powered off, and therefore, a worker may analyze the data, information and other contents included in the fault information first, and then check the hardware part of the AGV, thereby reducing the difficulty of maintenance.
Wherein, the process of cutting off AGV's power specifically is: the controller sends a power-off instruction to the battery, and the battery responds to the power-off instruction and executes power-off operation.
The application provides an AGV working temperature monitoring method which comprises the steps of receiving working temperature data of a plurality of target devices in an AGV; determining the state of any target device according to the working temperature data of the target device and a preset temperature value corresponding to the target device, wherein the state is a normal state, a state to be observed or a dangerous state; and when the target equipment in the dangerous state exists, reporting fault information corresponding to the target equipment to the upper computer, and cutting off the power supply of the AGV. In practical application, by adopting the scheme of the application, the working temperatures of a plurality of target devices inside the AGV are respectively monitored so as to determine the states of the target devices, and when danger occurs, the target devices can respond quickly.
On the basis of the above-described embodiment:
as a preferred embodiment, when there is no target device in a dangerous state, reporting the operating temperature data of all target devices to the upper computer.
Specifically, when no target device in a dangerous state exists inside the AGV, the controller reports working temperature data of the target device in a normal state and/or a state to be observed to the upper computer, so that a worker can analyze the state of the AGV according to the working temperature data of each target device.
Of course, the data reported to the upper computer may include, in addition to the working temperature data of the target device, a name of the target device, a communication state, a state of the target device, and the like, and the content reported to the upper computer is set according to actual engineering requirements, which is not specifically limited herein.
As a preferred embodiment, the process of receiving the operating temperature data of a plurality of target devices inside the AGV specifically includes:
and sending temperature query instructions to a plurality of target devices in the AGV according to a first preset period so as to receive working temperature data sent by the target devices after receiving the temperature query instructions.
Specifically, a manner of receiving the operating temperature data of the target device needs to be determined according to the type of the target device, for example, some target devices may support active reporting of the operating temperature data, the controller may directly receive the operating temperature data sent by the target device according to a corresponding period, some target devices may only support passive querying, and the controller sends a temperature querying instruction to the target device according to a preset rule, so that the target device returns the operating temperature data to the controller after receiving the temperature querying instruction.
Specifically, assuming that both the motor and the IMU in the AGV support only passive query, the controller may send a temperature query instruction to the motor and the IMU once according to a first preset period to receive working temperature data returned by the motor and the IMU, where the first preset period may be set to 4 s. The method and the device for receiving the working temperature data can determine the mode of receiving the working temperature data according to the type of the target equipment in advance, are not limited by the type of the target equipment inside the AGV, and have strong universality.
Of course, the first preset period is set according to actual engineering requirements, and does not exceed the highest frequency of the communication line, and the application is not specifically limited herein.
Referring to fig. 2, fig. 2 is a flowchart illustrating steps of another AGV operating temperature monitoring method according to the present application, where the AGV operating temperature monitoring method is based on the foregoing embodiment:
in a preferred embodiment, after receiving operating temperature data of a plurality of target devices within an AGV, the method for monitoring operating temperature of an AGV further comprises:
and 4, step 4: judging whether abnormal target equipment exists, wherein the abnormal target equipment is target equipment which does not send working temperature data according to a preset rule, if not, executing the step 2, and if so, executing the step 5;
and 5: sending a temperature query instruction to the abnormal target equipment according to a second preset period;
step 6: judging whether working temperature data sent by abnormal target equipment is received within a preset time period, if so, executing the step 2, and if not, executing the step 7;
and 7: and reporting fault information corresponding to the abnormal target equipment to the upper computer.
Specifically, consider the following if there is an anomaly: the communication line between the target equipment and the controller is disconnected, the communication line between the target equipment and the temperature sensor is disconnected, the temperature sensor is damaged or the controller of the target equipment is damaged, so that the target equipment cannot send working temperature data to the controller according to the corresponding preset period.
Specifically, the present embodiment is described by taking target devices as a motor, a battery and an IMU as an example, assuming that the motor and the IMU support passive query and the battery supports active report, in a normal case, the controller sends a temperature query instruction to the motor and the IMU every 4s, the motor and the IMU return operating temperature data to the controller after receiving the temperature query instruction, the battery actively reports the operating temperature data to the controller every 1s, if the controller does not receive data of a next frame of a certain target device within a specified time (every 4s for the IMU and the motor and every 1s for the battery), the target device is determined as an abnormal target device, and sends a preset number of temperature query instructions to the abnormal target device to determine whether a data loss phenomenon exists, where the preset number may be set to 3 times, and if any abnormal target device may return operating temperature data, and (3) if the phenomenon of data loss does not exist, performing subsequent processing on the working temperature data returned by the abnormal target equipment through the step (2), if the temperature query instruction is sent to the abnormal target equipment for 3 times, and the abnormal target equipment cannot return the working temperature data, determining that the phenomenon of data loss exists, and reporting fault information corresponding to the abnormal target equipment to the upper computer so that a worker can analyze the communication state and the hardware state in the AGV according to the fault information.
It can be understood that, the purpose of sending the temperature query command for multiple times is to prevent frame loss, and considering that the target device may be in an abnormal state, the time interval (i.e. the second preset period) for sending the temperature query command may be set to be relatively shorter, so as to further improve the reliability of the scheme. Of course, the second preset period and the preset times are determined according to actual engineering requirements and do not exceed the highest frequency of the communication line.
Referring to fig. 3, fig. 3 is a flowchart illustrating steps of another AGV operating temperature monitoring method according to the present application, in which the AGV operating temperature monitoring method is based on the foregoing embodiment:
as a preferred embodiment, the process of step 7 specifically includes:
step 71: judging whether the abnormal target equipment is a battery, if so, entering a step 72, and if not, entering a step 73;
step 72: reporting fault information corresponding to the battery to the upper computer, and cutting off the power supply of the AGV;
step 73: and reporting fault information corresponding to the abnormal target equipment to the upper computer.
Specifically, in order to further improve the safety of the application, after a preset number of temperature query instructions are sent to an abnormal target device, working temperature data returned by the abnormal target device cannot be received, whether the abnormal target device is a battery is judged firstly, if the abnormal target device is the battery, fault information corresponding to the battery is reported to an upper computer, the power supply of the AGV is cut off, and if the abnormal target device is not the battery, the fault information corresponding to the abnormal target device is reported to the upper computer, wherein the fault information can comprise the name of each target device, the communication state (abnormal or normal), the working temperature data and the state (normal state, state to be observed and dangerous state) so that a worker can analyze the state of the AGV.
Referring to fig. 4, fig. 4 is a flowchart illustrating steps of another AGV operating temperature monitoring method according to the present application, where the AGV operating temperature monitoring method is based on the foregoing embodiment:
as a preferred embodiment, the AGV operating temperature monitoring method further comprises:
and 8: and when the target equipment to be observed exists, sending a temperature query instruction to the target equipment to be observed according to a third preset period, and then executing the step 4, wherein the target equipment to be observed is the target equipment with the state to be observed.
Specifically, the target device to be observed is a target device whose operating temperature data is between a normal temperature limit and a dangerous temperature limit, the controller sends a temperature query instruction to the device to be observed according to a third preset period, where the purpose of sending the temperature query instruction is to monitor the device to be observed at this time, the purpose of step 5 is to determine whether a data loss phenomenon exists, and therefore, the frequency of sending the temperature query instruction is not limited in this embodiment.
As a preferred embodiment, before reporting the operating temperature data of all the target devices to the upper computer, the operating temperature monitoring method for an AGV further includes:
judging whether the current time and the last reporting time exceed preset time or not;
and reporting the working temperature data of all the target devices to an upper computer.
Specifically, for the convenience of checking by the staff, the working temperature data and/or the fault information of the target device are acquired and then stored, and then the contents are sent to the upper computer according to a preset reporting period, the reporting period is set to be 5s, correspondingly, the preset time is 5s, if the last reporting time is 5s and the current time is 8s, the interval between the current time and the last reporting time is 3s, and if the preset time is not exceeded, the contents are sent to the upper computer again when the interval between the current time and the last reporting time reaches 5 s.
Referring to fig. 5, fig. 5 is a schematic structural diagram of an AGV operating temperature monitoring system according to the present application, including:
the AGV comprises a receiving module 1, a control module and a display module, wherein the receiving module is used for receiving working temperature data of a plurality of target devices in the AGV;
the state determining module 2 is used for determining the state of any target device according to the working temperature data of the target device and a preset temperature value corresponding to the target device, wherein the state is a normal state, a state to be observed or a dangerous state;
and the processing module 3 is used for reporting fault information corresponding to the target equipment to the upper computer and cutting off the power supply of the AGV when the target equipment in the dangerous state exists.
As a preferred embodiment, the processing module 3 is further configured to report the operating temperature data of all the target devices to the upper computer when there is no target device in a dangerous state.
As a preferred embodiment, the receiving module 1 is specifically configured to:
and sending temperature query instructions to a plurality of target devices in the AGV according to a first preset period so as to receive working temperature data sent by the target devices after receiving the temperature query instructions.
As a preferred embodiment, the AGV operating temperature monitoring system further comprises:
the first judgment module is used for judging whether abnormal target equipment exists, the abnormal target equipment is target equipment which does not send working temperature data according to a preset rule, if not, the state determination module 2 is triggered, and if yes, the first temperature query module is triggered;
the first temperature query module is used for sending a temperature query instruction to the abnormal target equipment according to a second preset period, judging whether working temperature data sent by the abnormal target equipment is received within a preset time period, if so, triggering the state determination module 2, and if not, triggering the processing module 3;
and the processing module 3 is also used for reporting fault information corresponding to the abnormal target equipment to the upper computer.
As a preferred embodiment, the process of reporting the fault information corresponding to the abnormal target device to the upper computer specifically includes:
judging whether the abnormal target equipment is a battery or not;
if so, reporting fault information corresponding to the battery to the upper computer, and cutting off the power supply of the AGV;
if not, reporting fault information corresponding to the abnormal target equipment to the upper computer.
As a preferred embodiment, the preset temperature value includes a normal temperature limit value and a dangerous temperature limit value, and the dangerous temperature limit value is greater than the normal temperature limit value;
the state determination module 2 includes: :
the second judgment module is used for judging whether the working temperature data of the target equipment is greater than the normal temperature limit value corresponding to the target equipment, if not, the state of the target equipment is judged to be a normal state, and if so, the third judgment module is triggered;
and the third judging module is used for judging whether the working temperature data of the target equipment is greater than the dangerous temperature limit value corresponding to the target equipment, judging that the state of the target equipment is a state to be observed if the working temperature data of the target equipment is not greater than the dangerous temperature limit value corresponding to the target equipment, and judging that the state of the target equipment is a dangerous state if the working temperature data of the target equipment is greater than the dangerous temperature limit value corresponding to.
As a preferred embodiment, the AGV operating temperature monitoring system further comprises:
and the second temperature query module is used for sending a temperature query instruction to the target equipment to be observed according to a third preset period when the target equipment to be observed exists, and then executing a step of judging whether abnormal target equipment exists or not, wherein the target equipment to be observed is the target equipment in the state to be observed.
As a preferred embodiment, the AGV operating temperature monitoring system further comprises:
and the fourth judging module is used for judging whether the current time exceeds the preset time from the last reporting time, and if so, triggering the processing module 3 so that the processing module 3 can report the working temperature data of all the target devices to the upper computer.
The AGV working temperature monitoring system has the same beneficial effects as the AGV working temperature monitoring method.
Please refer to the above embodiments for an introduction of an AGV operating temperature monitoring system provided in the present application, which is not described herein again.
Correspondingly, this application still provides an AGV operating temperature monitoring device, includes:
a memory for storing a computer program;
a processor for implementing the steps of the AGV operating temperature monitoring method as described in any one of the preceding methods when executing the computer program.
The AGV working temperature monitoring device has the same beneficial effects as the AGV working temperature monitoring method.
Please refer to the above embodiments for the description of the AGV operating temperature monitoring apparatus provided in this application, which is not described herein again.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The AGV working temperature monitoring system and apparatus disclosed in the embodiments correspond to the AGV working temperature monitoring method disclosed in the embodiments, so the description is simple, and the relevant points can be referred to the description of the method section.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. An AGV working temperature monitoring method is characterized by comprising the following steps:
receiving working temperature data of a plurality of target devices in the AGV;
determining the state of the target equipment according to the working temperature data of any target equipment and a preset temperature value corresponding to the target equipment, wherein the state is a normal state, a state to be observed or a dangerous state;
when the target equipment in the dangerous state exists, reporting fault information corresponding to the target equipment to an upper computer, and cutting off the power supply of the AGV;
after receiving the working temperature data of a plurality of target devices in the AGV, the AGV working temperature monitoring method further comprises the following steps:
judging whether an abnormal target device exists, wherein the abnormal target device is a target device which does not send the working temperature data according to a preset rule;
if not, executing the step of determining the state of the target equipment according to the working temperature data of any target equipment and the preset temperature value corresponding to the target equipment;
if yes, sending a temperature query instruction to the abnormal target equipment according to a second preset period, and judging whether the working temperature data sent by the abnormal target equipment is received within a preset time period;
if yes, executing the step of determining the state of the target equipment according to the working temperature data of any target equipment and the preset temperature value corresponding to the target equipment;
if not, reporting fault information corresponding to the abnormal target equipment to the upper computer.
2. The AGV working temperature monitoring method according to claim 1, wherein when there is no target device in said dangerous state, reporting the working temperature data of all the target devices to said upper computer.
3. The AGV working temperature monitoring method according to claim 1, wherein the process of receiving the working temperature data of the plurality of target devices inside the AGV comprises:
sending a temperature query instruction to a plurality of target devices in the AGV according to a first preset period so as to receive working temperature data sent by the target devices after receiving the temperature query instruction.
4. The AGV operating temperature monitoring method according to claim 1, wherein the process of reporting the fault information corresponding to the abnormal target device to the upper computer specifically includes:
judging whether the abnormal target equipment is a battery or not;
if so, reporting fault information corresponding to the battery to the upper computer, and cutting off the power supply of the AGV;
if not, reporting fault information corresponding to the abnormal target equipment to the upper computer.
5. The AGV operating temperature monitoring method of claim 1, wherein the preset temperature values include a normal temperature limit and a dangerous temperature limit, and the dangerous temperature limit is greater than the normal temperature limit;
the process of determining the state of the target device according to the working temperature data of any one of the target devices and the preset temperature value corresponding to the target device specifically comprises the following steps:
judging whether the working temperature data of the target equipment is greater than the normal temperature limit value corresponding to the target equipment or not;
if not, judging that the state of the target equipment is the normal state;
if so, judging whether the working temperature data of the target equipment is greater than the dangerous temperature limit value corresponding to the target equipment;
if not, judging that the state of the target equipment is the state to be observed;
and if so, judging that the state of the target equipment is the dangerous state.
6. The AGV operating temperature monitoring method of claim 1, further comprising:
and when target equipment to be observed exists, sending the temperature query instruction to the target equipment to be observed according to a third preset period, and then executing the step of judging whether abnormal target equipment exists, wherein the target equipment to be observed is the target equipment in the state to be observed.
7. The AGV working temperature monitoring method according to claim 2, wherein before reporting the working temperature data of all the target devices to the upper computer, the AGV working temperature monitoring method further comprises:
judging whether the current time and the last reporting time exceed preset time or not;
if so, reporting the working temperature data of all the target devices to the upper computer.
8. An AGV operating temperature monitoring system, comprising:
the receiving module is used for receiving working temperature data of a plurality of target devices in the AGV;
the state determining module is used for determining the state of the target equipment according to the working temperature data of any target equipment and the preset temperature value corresponding to the target equipment, wherein the state is a normal state, a state to be observed or a dangerous state;
the processing module is used for reporting fault information corresponding to the target equipment to an upper computer and cutting off the power supply of the AGV when the target equipment with the dangerous state exists;
this AGV operating temperature monitored control system still includes:
the first judgment module is used for judging whether abnormal target equipment exists, the abnormal target equipment is target equipment which does not send the working temperature data according to a preset rule, if not, the state determination module is triggered, and if yes, the first temperature query module is triggered;
the first temperature query module is configured to send a temperature query instruction to the abnormal target device according to a second preset period, determine whether the working temperature data sent by the abnormal target device is received within a preset time period, trigger the state determination module if the working temperature data is received, and trigger the processing module if the working temperature data is not received;
the processing module is further configured to report fault information corresponding to the abnormal target device to the upper computer.
9. An AGV operating temperature monitoring device, comprising:
a memory for storing a computer program;
a processor for implementing the steps of the AGV operating temperature monitoring method according to any one of claims 1-7 when executing said computer program.
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| CN113619391B (en) * | 2020-05-08 | 2023-08-04 | 北京京东乾石科技有限公司 | Power management method and power manager |
| CN111968684B (en) * | 2020-09-01 | 2022-09-09 | 深圳大普微电子科技有限公司 | Temperature control method, device and equipment of memory and storage medium |
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